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Title: Disturbance observer based control for nonlinear systems
Authors: Chen, Wen-Hua
Keywords: Composite controllers
Control system design
Disturbance attenuation
Disturbance observers
Nonlinear systems
Stability
Issue Date: 2006
Publisher: © IEEE
Citation: CHEN, W-H., 2006. Disturbance observer based control for nonlinear systems. IEEE/ASME Transactions on Mechatronics, 9 (4), pp. 706-710 [10.1109/TMECH.2004.839034]
Abstract: This paper presents a general framework for nonlinear systems subject to disturbances using disturbance observer based control (DOBC)techniques. A two-stage design procedure to improve disturbance attenuation ability of current linear/nonlinear controllers is proposed where the disturbance observer design is separated from the controller design. To facilitate this concept, a nonlinear disturbance observer is developed for disturbances generated by an exogenous system, and global exponential stability is established under certain condition. Furthermore, semiglobal stability condition of the composite controller consisting of a nonlinear controller and the nonlinear disturbance observer is established. The developed method is illustrated by the application to control of a two-link robotic manipulator.
Description: This article was published in the journal, IEEE / ASME Transactions on Mechatronics. [© IEEE] and is also available at: http://ieeexplore.ieee.org/Xplore/dynhome.jsp Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
URI: https://dspace.lboro.ac.uk/2134/3760
ISSN: 1083-4435
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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